{
  "abstract": "This disclosure describes a soft robotic gripper employing a granular jamming mechanism to conform to and grasp objects of varied shapes and stiffness. The gripper features a compliant outer membrane enclosing a volume of granular material, which transitions from a fluid-like state to a rigid solid state upon the application of a vacuum. This mechanism enables controlled, distributed force application, preventing damage to delicate items while providing sufficient grip for rigid components. The system addresses the challenge of handling diverse unpackaged goods within a single automated work cell, where traditional rigid grippers are unsuitable due to their inability to adapt to object variability.",
  "canonical_url": "https://opentechnical.org/p/OT-2026-000000012",
  "categories": [
    "robotics-automation/end-effectors/soft-grippers"
  ],
  "extent": {
    "figures": 2,
    "paragraphs": 18,
    "words": 2297
  },
  "figures": [
    {
      "caption": "This diagram illustrates the primary components and operational principle of the soft jamming gripper.",
      "derivative": {
        "file": "figures/fig-001.png",
        "media_type": "image/png",
        "sha256": "6c382c17e2ef86e2d4c23c65866a4eaf5d5b6bb3256108d927d0118346ae9136"
      },
      "file": "figures/fig-001.svg",
      "number": "FIG-001",
      "sha256": "6a8655c7467220479db9141017bfe9ba149320cf82356472af50cdffd997b788"
    },
    {
      "caption": "This cross-section shows the internal arrangement of the jamming layer and its interaction with an object.",
      "derivative": {
        "file": "figures/fig-002.png",
        "media_type": "image/png",
        "sha256": "993a080bfd0157542a1c2a5f80a1de9682bd0248b1c85b519513fec2e487e0a8"
      },
      "file": "figures/fig-002.svg",
      "number": "FIG-002",
      "sha256": "571d8410886925514c06f62ff22155c5eb7e5cdb81e9f05d49ebe82953d4755a"
    }
  ],
  "files": [
    {
      "bytes": 36853,
      "media_type": "image/png",
      "name": "figures/fig-001.png",
      "sha256": "6c382c17e2ef86e2d4c23c65866a4eaf5d5b6bb3256108d927d0118346ae9136"
    },
    {
      "bytes": 5511,
      "media_type": "image/svg+xml",
      "name": "figures/fig-001.svg",
      "sha256": "6a8655c7467220479db9141017bfe9ba149320cf82356472af50cdffd997b788"
    },
    {
      "bytes": 51749,
      "media_type": "image/png",
      "name": "figures/fig-002.png",
      "sha256": "993a080bfd0157542a1c2a5f80a1de9682bd0248b1c85b519513fec2e487e0a8"
    },
    {
      "bytes": 7727,
      "media_type": "image/svg+xml",
      "name": "figures/fig-002.svg",
      "sha256": "571d8410886925514c06f62ff22155c5eb7e5cdb81e9f05d49ebe82953d4755a"
    },
    {
      "bytes": 26911,
      "media_type": "text/html; charset=utf-8",
      "name": "index.html",
      "sha256": "a6b87da77783a5341647180aeb9f52a1ddfab551d05764c30834313389b74bc5"
    },
    {
      "bytes": 16122,
      "media_type": "text/markdown; charset=utf-8",
      "name": "publication.md",
      "sha256": "98e25d2fe9afbba93197b1261660ba21b7d709f0441224e92822c37c5a888c92"
    },
    {
      "bytes": 16194,
      "media_type": "text/plain; charset=utf-8",
      "name": "publication.txt",
      "sha256": "a017d6d6ebbc28843932661d882ad4f07f34cfe66c2124e22e62b21efba2f9c4"
    }
  ],
  "integrity": {
    "hash_algorithm": "sha256",
    "keys_url": "https://opentechnical.org/integrity/keys",
    "record_url": "https://opentechnical.org/p/OT-2026-000000012/integrity",
    "signature_algorithm": "Ed25519",
    "signature_file": "manifest.sig",
    "verify_url": "https://opentechnical.org/integrity/verify"
  },
  "keywords": [
    "soft robotics",
    "granular jamming",
    "robotic gripper",
    "end effector",
    "vacuum actuation",
    "compliant mechanism",
    "adaptive grasping",
    "force limitation",
    "irregular objects",
    "pick and place"
  ],
  "language": "en",
  "license": {
    "name": "Creative Commons Attribution 4.0 International",
    "url": "https://creativecommons.org/licenses/by/4.0/"
  },
  "publication_id": "OT-2026-000000012",
  "published_at": "2026-09-15T19:01:13.205510Z",
  "publisher": "Nebula Innovations Limited",
  "record_type": "disclosure",
  "schema": "opentechnical-publication-manifest/1.0",
  "supersedes": null,
  "title": "Jamming Layer Soft Gripper for Irregular Unpackaged Goods",
  "uuid": "01a0a671-d572-70b1-9909-180da64c4225"
}